version: 66.11
glider: 189
mission: 7
dive: 243
start: 12 1 112 10 45 43
data:
$ID,189
$MISSION,7
$DIVE,243
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,100
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,540
$T_MISSION,570
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,10
$T_NO_W,720
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,54634
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.01103
$HD_C,2.7848e-05
$HEADING,-1
$ESCAPE_HEADING,90
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2434
$TGT_DEFAULT_LON,-3802
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,5
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,30
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-47959.348
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3928
$C_PITCH,3000
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17.5
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,359
$ROLL_MAX,3924
$ROLL_DEG,45
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,1600
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-20
$R_STBD_OVSHOOT,-20
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2320
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,97
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-80.603096
$PRESSURE_SLOPE,0.0001182519
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042969952
$SEABIRD_T_H,0.00061766658
$SEABIRD_T_I,2.0722548e-05
$SEABIRD_T_J,1.9705003e-06
$SEABIRD_C_G,-9.7093372
$SEABIRD_C_H,1.1118598
$SEABIRD_C_I,-0.0010979992
$SEABIRD_C_J,0.00015928292
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,200.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,011212,103504,2420.188,-3817.540,39,0.9,39,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-58.2
$GPS2,011212,104441,2420.233,-3817.546,18,0.9,19,-14.1
$SPEED_LIMITS,0.106,0.227
$TGT_NAME,C_NE
$TGT_LATLONG,2434.000,-3802.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.188,0.126
$KALMAN_X,39858.4,317.3,507.2,-67061.0,-9531.6
$KALMAN_Y,58127.9,-113.7,40.4,-86523.2,1469.3
$MHEAD_RNG_PITCHd_Wd,70.2,36548,-9.7,-6.111,-15.10
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.79,-195.4,0.0,0.0,0,38,0.00,0.00,-11.65,0.000,2,0.000,0.000,151,2125,1442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,41,-0.79,-195.4,2.0,0.0,1,127,9.43,2.65,-65.50,0.000,4,0.183,0.053,2729,3752,3116,0,0,0,0,0,0,25.74,26.10,26.67
$GC,359,-0.68,-195.4,20.9,-7.5,33,367,0.17,2.42,0.00,0.000,6,0.119,0.021,2781,2092,3119,0,0,0,0,0,0,26.05,26.39,28.83
$GC,669,-0.63,-195.4,39.9,-5.9,64,676,0.00,2.62,0.00,0.000,4,0.000,0.042,2770,3750,3121,0,0,0,0,0,0,28.83,26.23,28.83
$GC,908,-0.58,-195.4,56.3,-6.8,88,918,0.15,2.45,0.00,0.000,6,0.120,0.021,2823,2099,3119,0,0,0,0,0,0,26.20,26.51,28.83
$GC,1228,-0.63,-195.4,77.3,-6.8,118,1235,0.00,2.60,0.00,0.000,4,0.000,0.040,2807,3746,3121,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1297,-0.67,-195.4,81.6,-7.1,120,1304,0.00,2.45,0.00,0.000,6,0.000,0.021,2811,2096,3119,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1618,-0.70,-195.4,105.1,-7.2,131,1626,0.12,2.60,0.00,0.000,4,0.079,0.040,2722,3749,3120,0,0,0,0,0,0,26.70,26.32,28.83
$GC,1828,-0.62,-195.4,123.2,-8.9,138,1836,0.22,2.45,0.00,0.000,6,0.111,0.021,2799,2097,3120,0,0,0,0,0,0,26.15,26.56,28.83
$GC,2159,-0.62,-195.4,146.3,-6.5,149,2165,0.00,2.60,0.00,0.000,4,0.000,0.041,2789,3745,3121,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2247,-0.64,-195.4,150.2,-6.3,151,2255,0.00,2.45,0.00,0.000,6,0.000,0.020,2789,2090,3120,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2578,-0.67,-195.4,174.2,-6.8,157,2585,0.00,2.40,0.00,0.000,4,0.000,0.037,2788,546,3120,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2638,-0.69,-195.4,178.6,-7.0,158,2645,0.00,2.47,0.00,0.000,6,0.000,0.024,2778,2194,3120,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2998,-0.71,-195.4,204.7,-7.3,164,3000,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2194,3120,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3298,-0.74,-195.4,225.5,-6.8,169,3305,0.00,2.58,0.00,0.000,4,0.000,0.037,2778,541,3120,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3487,-0.74,-195.4,237.2,-6.6,172,3495,0.00,2.47,0.00,0.000,6,0.000,0.024,2767,2187,3120,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3837,-0.74,-195.4,260.5,-6.7,178,3839,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2188,3120,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4138,-0.77,-195.4,282.9,-7.5,183,4145,0.00,2.58,0.00,0.000,4,0.000,0.037,2767,547,3120,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4347,-0.77,-195.4,296.8,-7.7,186,4355,0.00,2.47,0.00,0.000,6,0.000,0.024,2757,2191,3119,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4677,-0.77,-195.4,322.3,-7.0,192,4685,0.00,2.47,0.00,0.000,4,0.000,0.042,2745,3746,3117,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4767,-0.77,-195.4,326.4,-6.9,193,4775,0.00,2.45,0.00,0.000,6,0.000,0.021,2745,2098,3117,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5097,-0.77,-195.4,352.5,-7.4,199,5105,0.00,2.45,0.00,0.000,4,0.000,0.038,2745,546,3117,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5157,-0.77,-195.4,357.3,-7.7,200,5165,0.00,2.50,0.00,0.000,6,0.000,0.025,2734,2188,3116,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5518,-0.77,-195.4,387.7,-8.6,206,5526,0.00,2.58,0.00,0.000,4,0.000,0.038,2734,546,3116,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5577,-0.77,-195.4,392.8,-8.5,207,5586,0.12,2.47,0.00,0.000,6,0.134,0.024,2759,2184,3119,0,0,0,0,0,0,26.26,26.52,28.83
$GC,5938,-0.80,-195.4,419.4,-7.2,213,5945,0.00,2.58,0.00,0.000,4,0.000,0.038,2759,547,3114,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6160,-0.82,-195.4,431.4,-6.7,216,6165,0.00,2.42,0.00,0.000,6,0.000,0.025,2750,2197,3113,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6478,-0.85,-195.4,453.0,-6.0,222,6486,0.00,2.60,0.00,0.000,4,0.000,0.038,2750,543,3112,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6588,-0.88,-195.4,456.7,-6.0,223,6597,0.00,2.50,0.00,0.000,6,0.000,0.024,2740,2194,3111,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6898,-0.90,-195.4,480.9,-7.0,229,6905,0.00,2.60,0.00,0.000,4,0.000,0.038,2740,543,3110,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7037,-0.90,-195.4,490.4,-7.5,231,7044,0.00,2.50,0.00,0.000,6,0.000,0.025,2730,2192,3111,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7438,-0.90,-195.4,524.7,-8.2,236,7445,0.00,2.58,0.00,0.000,4,0.000,0.039,2730,550,3109,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7658,-0.90,-195.4,534.6,-8.3,237,7665,0.00,2.47,0.00,0.000,6,0.000,0.026,2719,2187,3109,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8038,-0.90,-195.4,571.1,-7.6,241,8045,0.00,2.58,0.00,0.000,4,0.000,0.038,2719,547,3108,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8196,-0.90,-195.4,580.0,-7.4,242,8201,0.00,2.50,0.00,0.000,6,0.000,0.025,2707,2192,3107,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8509,-0.90,-195.4,604.4,-7.0,245,8516,0.00,2.62,0.00,0.000,4,0.000,0.039,2707,544,3106,0,0,0,0,0,0,28.83,26.30,28.83
$GC,8638,-0.90,-195.4,613.6,-7.1,246,8646,0.00,2.50,0.00,0.000,6,0.000,0.025,2695,2186,3106,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8989,-0.86,-195.4,642.0,-7.8,249,8997,0.00,2.47,0.00,0.000,4,0.000,0.044,2683,3742,3104,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9231,-0.80,-195.4,663.3,-8.4,251,9237,0.20,2.42,0.00,0.000,6,0.116,0.023,2746,2091,3104,0,0,0,0,0,0,26.14,26.53,28.83
$GC,9589,-0.80,-195.4,693.2,-8.5,254,9597,0.00,2.45,0.00,0.000,4,0.000,0.041,2746,549,3102,0,0,0,0,0,0,28.83,26.28,28.83
$GC,9758,-0.80,-195.4,702.8,-8.2,255,9766,0.00,2.50,0.00,0.000,6,0.000,0.025,2738,2191,3102,0,0,0,0,0,0,28.83,26.48,28.83
$GC,10070,-0.84,-195.4,730.7,-7.8,258,10077,0.00,2.60,0.00,0.000,4,0.000,0.040,2738,546,3101,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10138,-0.88,-195.4,730.7,-7.8,258,10146,0.00,2.50,0.00,0.000,6,0.000,0.025,2728,2189,3104,0,0,0,0,0,0,28.83,26.47,28.83
$GC,10549,-0.92,-195.4,766.6,-7.5,262,10557,0.00,2.60,0.00,0.000,4,0.000,0.040,2728,547,3099,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10659,-0.95,-195.4,766.6,-7.5,262,10668,0.00,2.50,0.00,0.000,6,0.000,0.025,2717,2190,3099,0,0,0,0,0,0,28.83,26.47,28.83
$GC,11029,-0.98,-195.4,801.7,-7.3,266,11037,0.00,2.50,0.00,0.000,4,0.000,0.044,2706,3749,3098,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11208,-0.98,-195.4,810.2,-7.3,267,11216,0.00,2.47,0.00,0.000,6,0.000,0.023,2705,2107,3097,0,0,0,0,0,0,28.83,26.51,28.83
$GC,11630,-1.00,-195.4,844.0,-7.0,271,11637,0.00,2.47,0.00,0.000,4,0.000,0.041,2705,550,3096,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11749,-1.00,-195.4,853.5,-7.3,272,11757,0.00,2.50,0.00,0.000,6,0.000,0.026,2695,2186,3096,0,0,0,0,0,0,28.83,26.44,28.83
$GC,12110,-1.00,-195.4,881.7,-7.8,275,12117,0.00,2.60,0.00,0.000,4,0.000,0.041,2695,553,3095,0,0,0,0,0,0,28.83,26.21,28.83
$GC,12138,-1.00,-195.4,881.7,-7.8,275,12142,0.00,2.50,0.00,0.000,6,0.000,0.026,2684,2186,3094,0,0,0,0,0,0,28.83,26.44,28.83
$GC,12460,-1.00,-195.4,911.0,-8.2,278,12461,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2186,3094,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12820,-1.00,-195.4,942.3,-8.6,281,12827,0.00,2.50,0.00,0.000,4,0.000,0.045,2672,3742,3092,0,0,0,0,0,0,28.83,26.14,28.83
$GC,12979,-1.00,-195.4,953.4,-8.8,282,12983,0.00,2.47,0.00,0.000,6,0.000,0.023,2672,2107,3092,0,0,0,0,0,0,28.83,26.46,28.83
$GC,13291,-1.00,-195.4,985.3,-9.1,285,13298,0.00,2.50,0.00,0.000,4,0.000,0.041,2672,549,3091,0,0,0,0,0,0,28.83,26.16,28.83
$STATE,13348,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13348,begin apogee
$GC,13356,-0.29,0.0,990.9,-9.1,288,13532,0.70,0.10,164.48,1.672,6,0.101,0.090,2903,1584,2320,0,0,0,0,0,0,25.78,24.57,23.28
$STATE,13533,end apogee,CONTROL_FINISHED_OK
$STATE,13533,begin climb
$GC,13536,0.79,195.4,1000.5,0.0,297,13720,1.00,2.80,173.23,1.627,4,0.062,0.035,3261,3192,1523,0,0,0,0,0,0,24.91,24.24,22.89
$GC,13952,0.63,195.4,980.3,8.5,314,13959,0.20,2.55,0.00,0.000,6,0.120,0.030,3206,1585,1518,0,0,0,0,0,0,25.76,26.00,28.83
$GC,14371,0.54,195.4,946.0,7.1,318,14379,0.12,2.00,0.00,0.000,4,0.137,0.048,3177,353,1514,0,0,0,0,0,0,26.26,26.22,28.83
$GC,14450,0.45,195.4,946.0,7.1,318,14458,0.12,1.95,0.00,0.000,6,0.126,0.025,3140,1651,1511,0,0,0,0,0,0,26.19,26.43,28.83
$GC,14851,0.45,195.4,914.4,6.6,322,14852,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1651,1513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15211,0.47,195.4,890.5,6.6,325,15218,0.00,2.12,0.00,0.000,4,0.000,0.049,3148,346,1511,0,0,0,0,0,0,28.83,26.29,28.83
$GC,15240,0.50,195.4,890.5,6.6,325,15244,0.00,1.98,0.00,0.000,6,0.000,0.026,3148,1659,1511,0,0,0,0,0,0,28.83,26.53,28.83
$GC,15562,0.52,195.4,867.4,6.6,328,15569,0.00,2.10,0.00,0.000,4,0.000,0.049,3158,359,1510,0,0,0,0,0,0,28.83,26.28,28.83
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$STATE,27609,end climb,SURFACE_DEPTH_REACHED
$STATE,27609,begin surface coast
$FINISH,2.2,1.025315
$STATE,27622,end surface coast,CONTROL_FINISHED_OK
$STATE,27622,begin surface
$SM_CCo,27645,27.88,0.127,0,0,1094,300.00
$SM_GC,2.28,8.07,2.78,27.88,0.032,0.024,0.127,152,2169,1094,-8.83,-0.68,300.00,0,0,0,0,0,0,26.34,26.42,25.57
$IRIDIUM_FIX,2411.01,-3744.21,011212,030358
$TT8_MAMPS,0.026215,0.026215
$HUMID,59.21
$INTERNAL_PRESSURE,9.07526
$TCM_TEMP,23.10
$XPDR_PINGS,0
$SC_FREEKB,7676576
$TM_FREEKB,5728544
$24V_AH,22.9,47.472
$10V_AH,10.1,39.785
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,21.375,253.275,373.600,27.875,0.000,28.763,40.984,232.937,0.000,0.000,19.494,2386.597,22254.939,876.681,2277.710,444.732,33.277,1948.252,0.000,1826.602,0.000,0.536,0.000
$DEVICE_MAMPS,182.835,97.155,1672.290,126.990,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,27625.000,5568.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.837,13.548,0.000,0.000
$MEM,344344
$DATA_FILE_SIZE,16719,580
$CAP_FILE_SIZE,211497,0
$CFSIZE,260034560,228999168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,011212,182804,2420.287,-3817.110,32,0.8,32,-14.1